def _startElement(self, name, attrs):
nodeName = attrs.get('name', None)
if (name == 'transform'):
t = transform.Transform()
t.takeParser(self._parser, self, attrs)
elif (name == 'geom'):
g = geom.Geom(nodeName, self)
g.takeParser(self._parser)
elif (name == 'group'):
# parse group
pass
elif (name == 'body'):
b = body.Body(nodeName, self, attrs)
b.takeParser(self._parser)
elif (name == 'jointgroup'):
# parse joint group
pass
elif (name == 'joint'):
j = joint.Joint(nodeName, self)
j.takeParser(self._parser)
elif (name == 'ext'):
# parse ext
pass
else:
raise errors.ChildError('space', name)
def _startElement(self, name, attrs):
if (name == 'link1'):
self._link1 = attrs['body']
elif (name == 'link2'):
self._link2 = attrs['body']
elif (name == 'ext'):
pass
elif (name == 'amotor'):
l1, l2 = self._getLinks()
self._parseAMotor(self._world, l1, l2)
elif (name == 'ball'):
l1, l2 = self._getLinks()
self._parseBallJoint(self._world, l1, l2)
elif (name == 'fixed'):
l1, l2 = self._getLinks()
self._parseFixedJoint(self._world, l1, l2)
elif (name == 'hinge'):
l1, l2 = self._getLinks()
self._parseHingeJoint(self._world, l1, l2)
elif (name == 'hinge2'):
l1, l2 = self._getLinks()
self._parseHinge2Joint(self._world, l1, l2)
elif (name == 'slider'):
l1, l2 = self._getLinks()
self._parseSliderJoint(self._world, l1, l2)
elif (name == 'universal'):
l1, l2 = self._getLinks()
self._parseUniversalJoint(self._world, l1, l2)
else:
raise errors.ChildError('joint', name)
def start(name, attrs):
if (name == 'anchor'):
anchor[0] = self._parser.parseVector(attrs)
elif (name == 'axis'):
axes.append(attrs)
else:
raise errors.ChildError('hinge2', name)
def _startElement(self, name, attrs):
nodeName = attrs.get('name', None)
if (name == 'world'):
world = World(nodeName, self)
world.takeParser(self._parser)
elif (name == 'ext'):
pass
else:
raise errors.ChildError('xode', name)
def start(name, attrs):
# The XODE specification allows anchor elements for AMotor but
# there is no way to set the anchor of an AMotor.
#if (name == 'anchor'):
# anchor[0] = self._parser.parseVector(attrs)
if (name == 'axis'):
axes.append(attrs)
else:
raise errors.ChildError('amotor', name)
def start(name, attrs):
if (name == 'vertices'):
pass
elif (name == 'triangles'):
pass
elif (name == 'v'):
vertices.append(self._parser.parseVector(attrs))
elif (name == 't'):
tri = int(attrs['ia'])-1, int(attrs['ib'])-1, int(attrs['ic'])-1
triangles.append(tri)
else:
raise errors.ChildError('trimesh', name)
def _startElement(self, name, attrs):
nodeName = attrs.get('name', None)
if (name == 'transform'):
t = transform.Transform()
t.takeParser(self._parser, self, attrs)
elif (name == 'space'):
space = Space(nodeName, self)
space.takeParser(self._parser)
elif (name == 'ext'):
pass
else:
raise errors.ChildError('world', name)
def _startElement(self, name, attrs):
nodeName = attrs.get('name', None)
if (name == 'transform'):
t = transform.Transform()
t.takeParser(self._parser, self, attrs)
else:
self._applyTransform()
if (name == 'torque'):
self.getODEObject().setTorque(self._parser.parseVector(attrs))
elif (name == 'force'):
self.getODEObject().setForce(self._parser.parseVector(attrs))
elif (name == 'finiteRotation'):
mode = int(attrs['mode'])
try:
axis = (float(attrs['xaxis']),
float(attrs['yaxis']),
float(attrs['zaxis']))
except KeyError:
raise errors.InvalidError('finiteRotation element must have' \
' xaxis, yaxis and zaxis attributes')
if (mode not in [0, 1]):
raise errors.InvalidError('finiteRotation mode attribute must' \
' be either 0 or 1.')
self.getODEObject().setFiniteRotationMode(mode)
self.getODEObject().setFiniteRotationAxis(axis)
elif (name == 'linearVel'):
self.getODEObject().setLinearVel(self._parser.parseVector(attrs))
elif (name == 'angularVel'):
self.getODEObject().setAngularVel(self._parser.parseVector(attrs))
elif (name == 'mass'):
self._mass = Mass(nodeName, self)
self._mass.takeParser(self._parser)
elif (name == 'joint'):
j = joint.Joint(nodeName, self)
j.takeParser(self._parser)
elif (name == 'body'):
b = Body(nodeName, self, attrs)
b.takeParser(self._parser)
elif (name == 'geom'):
g = geom.Geom(nodeName, self)
g.takeParser(self._parser)
elif (name == 'transform'): # so it doesn't raise ChildError
pass
else:
raise errors.ChildError('body', name)
def _startElement(self, name, attrs):
nodeName = attrs.get('name', None)
if (name == 'mass_struct'):
pass
elif (name == 'mass_shape'):
self._parseMassShape(attrs)
elif (name == 'transform'):
# parse transform
pass
elif (name == 'adjust'):
total = float(attrs['total'])
self.getODEObject().adjust(total)
elif (name == 'mass'):
mass = Mass(nodeName, self)
mass.takeParser(self._parser)
else:
raise errors.ChildError('mass', name)
def _startElement(self, name, attrs):
nodeName = attrs.get('name', None)
if (name == 'transform'):
t = transform.Transform()
t.takeParser(self._parser, self, attrs)
self._transformed = True
elif (name == 'box'):
self._parseGeomBox(attrs)
elif (name == 'cappedCylinder'):
self._parseGeomCCylinder(attrs)
elif (name == 'cone'):
raise NotImplementedError()
elif (name == 'cylinder'):
raise NotImplementedError()
elif (name == 'plane'):
self._parseGeomPlane(attrs)
elif (name == 'ray'):
self._parseGeomRay(attrs)
elif (name == 'sphere'):
self._parseGeomSphere(attrs)
elif (name == 'trimesh'):
self._parseTriMesh(attrs)
elif (name == 'geom'):
g = Geom(nodeName, self)
g.takeParser(self._parser)
elif (name == 'body'):
b = body.Body(nodeName, self, attrs)
b.takeParser(self._parser)
elif (name == 'joint'):
j = joint.Joint(nodename, self)
j.takeParser(self._parser)
elif (name == 'jointgroup'):
pass
elif (name == 'ext'):
pass
else:
raise errors.ChildError('geom', name)
def start(name, attrs):
if (name == 'axis'):
axes.append(attrs)
else:
raise errors.ChildError('slider', name)
def start(name, attrs):
raise errors.ChildError('fixed', name)
def start(name, attrs):
if (name == 'anchor'):
anchor[0] = self._parser.parseVector(attrs)
else:
raise errors.ChildError('ball', name)
def start(name, attrs):
if (name == 'ext'):
pass
else:
raise errors.ChildError('ray', name)
def start(name, attrs):
if (name == 'ext'):
pass
else:
raise errors.ChildError('cappedCylinder', name)
